一种无需额外电机的自适应传动装置，能根据负载自动调高扭矩输出。
Load-Based Variable Transmission Mechanism for Robotic Applications
- 利用预紧弹簧和四杆机构被动调节传动比，无需额外驱动。
- 当外力超过18N时，传动比提升最高达40%，实现主动增扭。
- 适合对轻量化和动态响应要求高的仿生腿足机器人。
本文提出一种基于负载的可变传动（LBVT）机制，通过动态调整传动比来增强机器人驱动性能。与需要额外执行器主动控制的传统可变传动系统不同，该方案采用预紧弹簧与四杆连杆结构，实现无源传动比调节，从而降低关节驱动系统的复杂性。通过仿真分析验证了其有效性：当达到预设扭矩阈值时，传动比最高可提升40%，在无需额外驱动的情况下有效放大关节扭矩；同时，当施加外力超过18N时，系统即触发扭矩放大效应，展现出对负载变化的自主响应能力。本研究为腿部机器人等应用中轻量化、高效且自适应的传动系统发展提供了新思路。
原文摘要 · Abstract (English)
This paper presents a Load-Based Variable Transmission (LBVT) mechanism designed to enhance robotic actuation by dynamically adjusting the transmission ratio in response to external torque demands. Unlike existing variable transmission systems that require additional actuators for active control, the proposed LBVT mechanism leverages a pre-tensioned spring and a four-bar linkage to passively modify the transmission ratio, thereby reducing the complexity of robot joint actuation systems. The effectiveness of the LBVT mechanism is evaluated through simulation-based analyses. The results confirm that the system achieves up to a 40 percent increase in transmission ratio upon reaching a predefined torque threshold, effectively amplifying joint torque when required without additional actuation. Furthermore, the simulations demonstrate a torque amplification effect triggered when the applied force exceeds 18 N, highlighting the system ability to autonomously respond to varying load conditions. This research contributes to the development of lightweight, efficient, and adaptive transmission systems for robotic applications, particularly in legged robots where dynamic torque adaptation is critical.
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